US12397705B2 - Mobile machinery situational awareness apparatus - Google Patents

Mobile machinery situational awareness apparatus

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Publication number
US12397705B2
US12397705B2 US17/762,305 US202017762305A US12397705B2 US 12397705 B2 US12397705 B2 US 12397705B2 US 202017762305 A US202017762305 A US 202017762305A US 12397705 B2 US12397705 B2 US 12397705B2
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US
United States
Prior art keywords
sensor
indicator
sensor module
obstacle
proximity
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Active, expires
Application number
US17/762,305
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English (en)
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US20220382285A1 (en
Inventor
Tobias Byrne
Brendan Tritton
Steven Durkin
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Durkin Giles Holdings Pty Ltd
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Durkin Giles Holdings Pty Ltd
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Priority claimed from AU2019903515A external-priority patent/AU2019903515A0/en
Application filed by Durkin Giles Holdings Pty Ltd filed Critical Durkin Giles Holdings Pty Ltd
Assigned to Mine Tech Australia Pty Ltd reassignment Mine Tech Australia Pty Ltd ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: Byrne, Tobias, DURKIN, Steven, TRITTON, Brendan
Publication of US20220382285A1 publication Critical patent/US20220382285A1/en
Assigned to Durkin Giles Holdings Pty Ltd reassignment Durkin Giles Holdings Pty Ltd ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: Mine Tech Australia Pty Ltd
Application granted granted Critical
Publication of US12397705B2 publication Critical patent/US12397705B2/en
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
    • B60Q1/26—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
    • B60Q1/50—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
    • B60Q1/0017—Devices integrating an element dedicated to another function
    • B60Q1/0023—Devices integrating an element dedicated to another function the element being a sensor, e.g. distance sensor, camera
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
    • B60Q1/26—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
    • B60Q1/2615—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic mounted on the vehicle body, e.g. with magnets
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q5/00—Arrangement or adaptation of acoustic signal devices
    • B60Q5/005—Arrangement or adaptation of acoustic signal devices automatically actuated
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q7/00—Arrangement or adaptation of portable emergency signal devices on vehicles
    • B60Q7/02—Arrangement or adaptation of portable emergency signal devices on vehicles to be attached to overhanging loads or extending parts of vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
    • B60Q9/008—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for anti-collision purposes
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16P—SAFETY DEVICES IN GENERAL; SAFETY DEVICES FOR PRESSES
    • F16P3/00—Safety devices acting in conjunction with the control or operation of a machine; Control arrangements requiring the simultaneous use of two or more parts of the body
    • F16P3/12—Safety devices acting in conjunction with the control or operation of a machine; Control arrangements requiring the simultaneous use of two or more parts of the body with means, e.g. feelers, which in case of the presence of a body part of a person in or near the danger zone influence the control or operation of the machine
    • F16P3/14—Safety devices acting in conjunction with the control or operation of a machine; Control arrangements requiring the simultaneous use of two or more parts of the body with means, e.g. feelers, which in case of the presence of a body part of a person in or near the danger zone influence the control or operation of the machine the means being photocells or other devices sensitive without mechanical contact
    • F16P3/141—Safety devices acting in conjunction with the control or operation of a machine; Control arrangements requiring the simultaneous use of two or more parts of the body with means, e.g. feelers, which in case of the presence of a body part of a person in or near the danger zone influence the control or operation of the machine the means being photocells or other devices sensitive without mechanical contact using sound propagation, e.g. sonar
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16P—SAFETY DEVICES IN GENERAL; SAFETY DEVICES FOR PRESSES
    • F16P3/00—Safety devices acting in conjunction with the control or operation of a machine; Control arrangements requiring the simultaneous use of two or more parts of the body
    • F16P3/12—Safety devices acting in conjunction with the control or operation of a machine; Control arrangements requiring the simultaneous use of two or more parts of the body with means, e.g. feelers, which in case of the presence of a body part of a person in or near the danger zone influence the control or operation of the machine
    • F16P3/14—Safety devices acting in conjunction with the control or operation of a machine; Control arrangements requiring the simultaneous use of two or more parts of the body with means, e.g. feelers, which in case of the presence of a body part of a person in or near the danger zone influence the control or operation of the machine the means being photocells or other devices sensitive without mechanical contact
    • F16P3/144—Safety devices acting in conjunction with the control or operation of a machine; Control arrangements requiring the simultaneous use of two or more parts of the body with means, e.g. feelers, which in case of the presence of a body part of a person in or near the danger zone influence the control or operation of the machine the means being photocells or other devices sensitive without mechanical contact using light grids
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16P—SAFETY DEVICES IN GENERAL; SAFETY DEVICES FOR PRESSES
    • F16P3/00—Safety devices acting in conjunction with the control or operation of a machine; Control arrangements requiring the simultaneous use of two or more parts of the body
    • F16P3/12—Safety devices acting in conjunction with the control or operation of a machine; Control arrangements requiring the simultaneous use of two or more parts of the body with means, e.g. feelers, which in case of the presence of a body part of a person in or near the danger zone influence the control or operation of the machine
    • F16P3/14—Safety devices acting in conjunction with the control or operation of a machine; Control arrangements requiring the simultaneous use of two or more parts of the body with means, e.g. feelers, which in case of the presence of a body part of a person in or near the danger zone influence the control or operation of the machine the means being photocells or other devices sensitive without mechanical contact
    • F16P3/147—Safety devices acting in conjunction with the control or operation of a machine; Control arrangements requiring the simultaneous use of two or more parts of the body with means, e.g. feelers, which in case of the presence of a body part of a person in or near the danger zone influence the control or operation of the machine the means being photocells or other devices sensitive without mechanical contact using electro-magnetic technology, e.g. tags or radar
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/06—Systems determining position data of a target
    • G01S13/42—Simultaneous measurement of distance and other co-ordinates
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/87—Combinations of radar systems, e.g. primary radar and secondary radar
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
    • G01S15/04—Systems determining presence of a target
    • G—PHYSICS
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    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/87—Combinations of sonar systems
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88—Sonar systems specially adapted for specific applications
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/003—Transmission of data between radar, sonar or lidar systems and remote stations
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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    • G05D1/0094—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots involving pointing a payload, e.g. camera, weapon, sensor, towards a fixed or moving target
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
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    • G05D1/60—Intended control result
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    • G—PHYSICS
    • G08—SIGNALLING
    • G08B—SIGNALLING SYSTEMS, e.g. PERSONAL CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
    • G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
    • G08B21/02—Alarms for ensuring the safety of persons
    • G—PHYSICS
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    • G08B—SIGNALLING SYSTEMS, e.g. PERSONAL CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
    • G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
    • G08B21/18—Status alarms
    • G08B21/182—Level alarms, e.g. alarms responsive to variables exceeding a threshold
    • G—PHYSICS
    • G08—SIGNALLING
    • G08B—SIGNALLING SYSTEMS, e.g. PERSONAL CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
    • G08B5/00—Visible signalling systems, e.g. visible personal calling systems or remote indication of seats occupied
    • G08B5/22—Visible signalling systems, e.g. visible personal calling systems or remote indication of seats occupied using electric transmission; using electromagnetic transmission
    • G08B5/36—Visible signalling systems, e.g. visible personal calling systems or remote indication of seats occupied using electric transmission; using electromagnetic transmission using visible light sources
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q2800/00—Features related to particular types of vehicles not otherwise provided for
    • B60Q2800/20—Utility vehicles, e.g. for agriculture, construction work
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
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    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/86—Combinations of sonar systems with lidar systems; Combinations of sonar systems with systems not using wave reflection
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88—Sonar systems specially adapted for specific applications
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    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
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    • G08B13/16—Actuation by interference with mechanical vibrations in air or other fluid
    • G08B13/1609—Actuation by interference with mechanical vibrations in air or other fluid using active vibration detection systems
    • G08B13/1645—Actuation by interference with mechanical vibrations in air or other fluid using active vibration detection systems using ultrasonic detection means and other detection means, e.g. microwave or infrared radiation

Definitions

  • This disclosure relates to mobile machinery, in general, and more specifically to apparatus to facilitate situational awareness of an operator of such mobile machinery and associated mobile machinery including such apparatus.
  • Mobile machinery includes a wide range of machinery designed to perform specific operations in different environments. Examples of such mobile machinery may include agricultural machinery (e.g., sprayers, combine harvesters, forestry equipment, lawnmowers), construction machinery (e.g., lifting and handling equipment, earthmoving machinery, mobile cranes), industrial trucks (e.g., aviation service vehicles, aerial work platforms), municipal machinery (e.g., for street cleaning or snow removal), etc.
  • agricultural machinery e.g., sprayers, combine harvesters, forestry equipment, lawnmowers
  • construction machinery e.g., lifting and handling equipment, earthmoving machinery, mobile cranes
  • industrial trucks e.g., aviation service vehicles, aerial work platforms
  • municipal machinery e.g., for street cleaning or snow removal
  • an apparatus provided for mobile machinery comprising:
  • the sensor module is configured for detachable fitment to the mobile machinery by means of suitable attachment means.
  • suitable attachment means The skilled addressee is to appreciate that the sensor module is detachable to allow for retro fitment as and when needed to a variety of conventional or existing mobile machinery.
  • the suitable attachment means is selected from a group consisting of magnetic attachment, removable fasteners, disposable fasteners, interference-fit fasteners, adhesive and vacuum-operated fasteners.
  • the orthogonal sensor arrangement comprises sensors selected from a non-exhaustive group consisting of ultrasonic sensors, radar sensors, and LIDAR sensors.
  • the orthogonal sensor arrangement comprises at least three sensors arranged orthogonally on a body of the sensor module, i.e., a sensor per axis, to enable obstacle proximity detection in three-dimensional space relative to the sensor module.
  • the orthogonal indicator arrangement comprises a light emitting diodes (LED) arranged on a body of the sensor module.
  • LED light emitting diodes
  • the indicator arrangement comprises at least three light emitting diodes (LEDs) arranged orthogonally on the sensor module, i.e., an LED per axis, to indicate a relative proximity of an obstacle.
  • LEDs light emitting diodes
  • the indicator arrangement comprises at least three light emitting diodes (LEDs) arranged orthogonally on the sensor module, i.e., an LED per axis, to indicate a relative proximity of an obstacle.
  • LEDs light emitting diodes
  • control wireless transceiver and wireless transceiver comprises radio transceivers, e.g., within the IEEE radio frequency bands, or the like.
  • the slave display is included with the control module, or comprises a remote display installable inside an operating cab of the mobile machinery.
  • the audible alarm is configured to provide a gradient proximity indication of an obstacle within the three-dimensional space relative to the sensor module.
  • the processor is configured to transmit the log, via the control wireless transceiver, to a remote computer system for analysis and reporting purposes.
  • FIG. 1 is a diagrammatic representation of apparatus for mobile machinery, in accordance with an aspect of the disclosure
  • the LEDs are typically configured to provide a gradient proximity indication of an obstacle within the three-dimensional space relative to the sensor module by means of emitting different light intensities and/or light colors.
  • “safe,” “warning” and “danger” thresholds of obstacle proximity may be represented by green, orange and red colors, respectively.
  • light intensity or brightness can be varied to provide the gradient, etc.
  • the control module 24 is typically configured to interface with the existing control system 26 of the mobile machinery 12 by means of a control interface 34 .
  • the control interface 34 comprises a DeutschTM DT connector, a Recommended Standard 232 (RS0232) or related interface, a Universal Serial Bus (USB) interface, or the like.
  • the control wireless transceiver 28 and wireless transceiver 22 typically comprises radio transceivers, e.g., within the IEEE radio frequency bands, or the like.
  • the apparatus 10 includes a slave display 32 , which is configured to provide a corresponding gradient proximity indication of an obstacle within the three-dimensional space 18 relative to a sensor module(s) 14 remotely.
  • the slave display 32 can be included with the control module 24 , and/or comprise a remote display installable inside an operating cab of the mobile machinery 12 , or the like.
  • the processor 30 generally comprises any suitable processor or microcontroller configured to receive input, perform logical and arithmetical operations on a suitable instruction set, and provide output, as well as transitory and/or non-transitory electronic storage, e.g., a programmable logic controller (PLC), or the like.
  • PLC programmable logic controller
  • the processor 30 is generally configured to add additional sensor modules 14 , via each respective wireless transceiver 22 , in order to daisy chain sensor modules together, as required.
  • one type of mobile machinery 12 may benefit from two sensor modules 14 , where another type of mobile machinery 12 benefits from six sensor modules 14 .
  • the processor 30 is configured to accommodate such a varying number of sensor modules 14 according to requirements.
  • the apparatus 10 can be used between various types of mobile machinery, as and when required, as apparatus 10 can be adapted to suit the requirements of a particular piece of machinery.
  • an elevated work platform such as a “cherry picker” can have a basket thereof fitted with four sensor modules 14 as necessary, after which the same apparatus 10 can be used on a forklift needing only two sensor modules 14 , for example, or the like.
  • the processor 30 is configured to record instances of obstacles sensed for the at least one sensor module 14 in order to form, produce or compile a log of sensed obstacles and/or unwanted interactions with the obstacle.
  • the sensor module 14 may also include an inertial measurement unit (IMU) 36 configured to measure a specific force, angular rate, and/or orientation of the mobile machinery 12 .
  • the processor 30 is also then configured to correlate the IMU measurements with instances of obstacles sensed and to record such correlation in the log.
  • IMU inertial measurement unit
  • the processor 30 is typically configured to transmit the log, via the control wireless transceiver 28 , to a remote computer system for analysis and reporting purposes.
  • the log can be downloaded by means of a suitable application or “app,” which enables review of machine performance and use, as well as provide an auditable record of such performance and use.
  • the processor 30 is configured to compile a virtual envelope about the mobile machinery 12 according to the log of sensed obstacles, unwanted interactions and/or IMU measurements. Such a virtual envelope is indicative of obstacles within the three-dimensional space about the mobile machinery 12 .
  • the processor 30 can be configured to automatically compile the virtual envelope about the machinery as the machinery operates. The virtual envelope compiled in this manner then forms a virtual map of obstacles about the mobile machinery 12 to facilitate automatic avoidance of obstacles and associated unwanted interactions.
  • Spatially relative terms such as “inner,” “outer,” “beneath,” “below,” “lower,” “above,” “upper,” and the like, may be used herein for ease of description to describe one element or feature's relationship to another element(s) or feature(s) as illustrated in the figures. Spatially relative terms may be intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as “below” or “beneath” other elements or features would then be oriented “above” the other elements or features. Thus, the example term “below” can encompass both an orientation of above and below. The device may be otherwise oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
  • one example may exemplify certain aspects of the disclosure, whilst other aspects are exemplified in a different example.
  • These examples are intended to assist the skilled person in performing the disclosure and are not intended to limit the overall scope of the disclosure in any way unless the context clearly indicates otherwise.
  • Variations (e.g., modifications and/or enhancements) of one or more embodiments described herein might become apparent to those of ordinary skill in the art upon reading this application. The inventor(s) expects skilled artisans to employ such variations as appropriate, and the inventor(s) intends for the claimed subject matter to be practiced other than as specifically described herein.

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  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
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  • General Physics & Mathematics (AREA)
  • Mechanical Engineering (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
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  • Acoustics & Sound (AREA)
  • Electromagnetism (AREA)
  • Business, Economics & Management (AREA)
  • Emergency Management (AREA)
  • Human Computer Interaction (AREA)
  • Emergency Alarm Devices (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
  • Traffic Control Systems (AREA)
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AU2019903515A AU2019903515A0 (en) 2019-09-21 Mobile machinery situational awareness apparatus
PCT/AU2020/050996 WO2021051171A1 (en) 2019-09-21 2020-09-21 Mobile machinery situational awareness apparatus

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EP (1) EP4022358B1 (de)
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US11875662B2 (en) * 2021-10-28 2024-01-16 Joseph GAUL Device and system for vehicle proximity alert
CN116766196B (zh) * 2023-07-11 2026-04-28 华东理工大学 一种外六角螺栓装配控制方法、系统、设备及存储介质
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WO2021051171A1 (en) 2021-03-25
EP4022358A4 (de) 2023-10-11
CA3151891A1 (en) 2021-03-25
CN114730015A (zh) 2022-07-08
EP4022358B1 (de) 2025-11-12
US20220382285A1 (en) 2022-12-01
EP4022358C0 (de) 2025-11-12
EP4022358A1 (de) 2022-07-06

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